DocumentCode
1865989
Title
Computing wrench cones for planar contact tasks
Author
Balkcom, Devin J. ; Trinkle, J.C. ; Gottlieb, E.J.
Author_Institution
Carnegie Mellon Robotics Inst., Pittsburgh, PA, USA
Volume
1
fYear
2002
fDate
2002
Firstpage
869
Abstract
The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane.
Keywords
assembly planning; computer aided production planning; industrial robots; production control; assembly task; contact mode; robotic manufacturing; rolling; sliding; workpiece insertion; wrenches; Computer aided manufacturing; Contracts; Fixtures; Friction; Laboratories; Research and development; Robotic assembly; Robots; Springs; US Department of Energy;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013466
Filename
1013466
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